David Spillman / Mbed 2 deprecated GPSNavigationNew

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Dependencies:   GPS2 L3GD20 LSM303DLHC2 PID mbed SDFileSystem

Fork of GPSNavigation by David Spillman

Actuator.h@12:273479524c71, 2015-04-29 (annotated)

Committer:
Spilly
Date:
Wed Apr 29 18:07:43 2015 +0000
Revision:
12:273479524c71
Parent:
8:c77ab7615b21
Child:
14:fd20b7ac8de8
Updated comments

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Spilly 8:c77ab7615b21 1 /*************************************************************************************************************************************************************/
Spilly 8:c77ab7615b21 2 // Created by: Ryan Spillman
Spilly 8:c77ab7615b21 3 //
Spilly 8:c77ab7615b21 4 // Last updated 4/9/2015
Spilly 8:c77ab7615b21 5 //
Spilly 8:c77ab7615b21 6 // Contains functions for controlling L298n H-bridge which controls the linear actuator
Spilly 8:c77ab7615b21 7 /*************************************************************************************************************************************************************/
Spilly 8:c77ab7615b21 8
Spilly 8:c77ab7615b21 9 #define Actuator_h
Spilly 8:c77ab7615b21 10
Spilly 8:c77ab7615b21 11 //L298n connections
Spilly 8:c77ab7615b21 12 DigitalOut pinI1(D7);
Spilly 8:c77ab7615b21 13 DigitalOut pinI2(PTC12); //D8
Spilly 8:c77ab7615b21 14 PwmOut ENA(D6);
Spilly 8:c77ab7615b21 15 /*************************************************************************************************************************************************************/
Spilly 8:c77ab7615b21 16 // L298n (H-Bridge) Functions
Spilly 8:c77ab7615b21 17 /*************************************************************************************************************************************************************/
Spilly 8:c77ab7615b21 18
Spilly 8:c77ab7615b21 19 void turnStop(float valueOne, float valueTwo)
Spilly 8:c77ab7615b21 20 {
Spilly 8:c77ab7615b21 21 pinI1 = 0;
Spilly 8:c77ab7615b21 22 pinI2 = 0;
Spilly 8:c77ab7615b21 23 ENA = valueOne;
Spilly 8:c77ab7615b21 24 }
Spilly 8:c77ab7615b21 25
Spilly 8:c77ab7615b21 26 void turnLeft(float valueOne, float valueTwo)
Spilly 8:c77ab7615b21 27 {
Spilly 8:c77ab7615b21 28 pinI1 = 0;
Spilly 8:c77ab7615b21 29 pinI2 = 1;
Spilly 8:c77ab7615b21 30 ENA = valueOne;
Spilly 8:c77ab7615b21 31 }
Spilly 8:c77ab7615b21 32
Spilly 8:c77ab7615b21 33 void turnRight(float valueOne, float valueTwo)
Spilly 8:c77ab7615b21 34 {
Spilly 8:c77ab7615b21 35 pinI1 = 1;
Spilly 8:c77ab7615b21 36 pinI2 = 0;
Spilly 8:c77ab7615b21 37 ENA = valueOne;
Spilly 8:c77ab7615b21 38 }
Spilly 8:c77ab7615b21 39
Spilly 12:273479524c71 40 //calculate an equal distance from acuator center point that the acutator can physically move to without hitting limit switch
Spilly 8:c77ab7615b21 41 float calcEnds(float center, float max, float min)
Spilly 8:c77ab7615b21 42 {
Spilly 8:c77ab7615b21 43 float upperRange = max - center;
Spilly 8:c77ab7615b21 44 float lowerRange = center - min;
Spilly 8:c77ab7615b21 45 if(upperRange < lowerRange)
Spilly 8:c77ab7615b21 46 {
Spilly 8:c77ab7615b21 47 return upperRange;
Spilly 8:c77ab7615b21 48 }
Spilly 8:c77ab7615b21 49 else
Spilly 8:c77ab7615b21 50 {
Spilly 8:c77ab7615b21 51 return lowerRange;
Spilly 8:c77ab7615b21 52 }
Spilly 8:c77ab7615b21 53 }